From 0948b4a451d1ad02a4b3ec10336fe3d545029de1 Mon Sep 17 00:00:00 2001 From: corkyw10 Date: Thu, 3 Jun 2021 16:13:32 +0200 Subject: [PATCH] Added optical flow documentation --- Docs/core_sensors.md | 1 + Docs/img/optical_flow.png | Bin 0 -> 74034 bytes Docs/ref_sensors.md | 69 +++++++++++++++++++++++++++++++------- 3 files changed, 57 insertions(+), 13 deletions(-) create mode 100644 Docs/img/optical_flow.png diff --git a/Docs/core_sensors.md b/Docs/core_sensors.md index 5fb5b3847..ae1e79b2d 100644 --- a/Docs/core_sensors.md +++ b/Docs/core_sensors.md @@ -111,6 +111,7 @@ Take a shot of the world from their point of view. For cameras that return [carl | ----------------- | ---------- | ------------------ | | Depth | [carla.Image](<../python_api#carlaimage>) |Renders the depth of the elements in the field of view in a gray-scale map. | | RGB | [carla.Image](<../python_api#carlaimage>) | Provides clear vision of the surroundings. Looks like a normal photo of the scene. | +| Optical Flow | [carla.Image](<../python_api#carlaimage>) | Renders the motion of every pixel from the camera. | | Semantic segmentation | [carla.Image](<../python_api#carlaimage>) | Renders elements in the field of view with a specific color according to their tags. | | DVS | [carla.DVSEventArray](<../python_api#carladvseventarray>) | Measures changes of brightness intensity asynchronously as an event stream. | diff --git a/Docs/img/optical_flow.png b/Docs/img/optical_flow.png new file mode 100644 index 0000000000000000000000000000000000000000..03dae41be4fbf20fe41ef6e38b0beb62680c45ac GIT binary patch literal 74034 zcmeEuWmJ@3_viyiGaw?3q%_hJaEBFOED+Fa1$$ zS~s`jMoOtq{RU4e6LTPTwyaacIh4;Smp8du9=@6SGe_vEq}+%NjGiyKx4Ju6@$_Ir z#U9sF$m*hq(&90Emx-$<$shJ^=UY{N2C0w7aQ)TGw&;Fv;>1OJIKwE$88-ghvuY_O zJ|_Uc!*NE<%Sc^K%+}ML+uF|4#-2OC-3v8g0FaOl@UpgbwfCX7v3GR#kYt3lburRA z+etDS3aRs|d&${5IV%Tw+v^5t=-CFj+KSpSN=xBM1c;#sxZC?!(+9Y_dAt@2kYxOa zt{Cd~`^P+t^#6ePxJoh_scX^8d3xK^3vvr`^FC7uaQ5S8l)|Hz@V0Xh(~(#F7YWo~ zl8jD1K3-xxJpTUv-2MXGp5Bf;e4?VFJiPoo{QS>Q5YJu*diYoeJo9+XbWh@c(vY`* zZR_pq<>Tz>L4Qxv+Q!q@N0N~dHBSF8;`eLtzo~n?{+AF?;^4U-;o;-v<@xX6KF$vR z7x4R${{p{97SnPLuy-?(cXqe;c#WEZBqJZcu;@S3{%hFyzYPoX3I8*CPfAS1-P+OK z(Amz%>A&Iq*NC#cv!fG=m;VDt)7#k|C53x_QAmtD_p;>qmoQOl!}Grv=Uzhp??3-} z$-gDz|A^~9;`+BF@NWVCN4x$bu767c{}%9nwCn#bapC<}cxUf{is}4O!5e7Yy#N*X zVZ45!qKAWnGryv_3;^_iioC2|z}$X^d)j()=9a&_im~y>#inlvzuEkJIDwZX*YX>3 zUIGd%0tDxk+_m)zyeFyAvBQ;TAFcoIL8G>0XoCmz&xjiP(=M$TokFE|s|-XHcSH#< z>xEtBjhKXe?r#fGrljL%{p1`2q$Sa zK0wXylKD=l%DgC?bU1YZ$$B`%m8eQr^jBNC(|=DOG^awrXx?lM)rykc)pTQ36%5C#6ya6}{9wPo1N6pvRUC08Zh z)kqvnm+$^uZNgu2whG=keHI!6+*5f~RcC}vW>QK*Oqp$A4g+Z^S#O#Tt$&PkF=({E z6jr>pwcB2qpe~oq7DjLE=kw+Q$I$bl@E$f^q{cK5&uozGffcFt<-T$=l&oaWvy=7a ze^jfhOxTtoRD+;}fJnH-eA6ir$QRT5Qu z%ZB#NeOWM}jEz!ou9xy#ah;EFRAwMIsG6cBpeMxrgwKoVYlUACfd#??1+AJ18cn=AvViWFZl+g?f=+rK6P0)b^16na;)CdXC zuuy{wS_M&Ji-#!oWRy>GG;k|SLKzuFj@H?dKI)29b<0nE8hOt4RBf@*=rP}EFLumvIc|hV zJNf-YWD>`!sQuCn|YGN{m zT#jAIpNmC?GOE!dk|YnhJz$&8iFIN79kp z3p$NN^`T6+$I!{e(ZaIZT4{!KuWwZt&8z8jt2czi_oT!Anh9?oKyhlWhM?THkOR6A zl9$wh#esF#AEJum`5ikFE2odLf3R{4cBkumr#Y9uPJ8Vnh!xBmB|Cm(fg%9>+BheI z)lIXv19j{04C(A2RfU6g%#N9}9=;0lj@V>vB4f$8alA?p7OuvO#w%+ECc%j7`}7pZ zK10BFu^!fMHq6&cuj zNCC>!Wu7-kq(4X4^EQy%CNOor#g_gDYT}7e0xY0ELtEviwY$yW)gC9Y-Wd_Tnu#;h zIcH7jYn*x}DjKDG&$tWg9WDGODzNTze~GevFy#1!JN;hmn&IJ)J-z8v0iW5`I-Grs4e4#U0|c_(aKK! zGvm}fu&=s&{v*p3?I>YTX7WSK;arMG?}Sxmd4R7=ca3qM3(8HdpursZ<%+@g;)tB3 z3vJwAusmZL#p=NRt!*$XS6l|-l<3a>@M@e`5Hbf(*qH_b9xfvxR8!!V*=vUAloS_JL6ei65TR;j5<>ef z3L5*$LW%3sq%n$BuNc?XOrimZcY}xvr=Tq+TkB6!I5}O-NC_`MhUr$>1F#*_Q zyB#rL9u(+9a(ljFcPaPbpx>o8@_PN_zlcEsv^!>xNi`N@m_(i91VNgm?riQ(kNc)&=qMz(}#SeziJ7>q`gf%EvbtH zLPdDLn0H>(-gvTtf87ztL>!VW9&!~Hkqa^baeh{bjZ7Z{i<5R8P?c3=j z>BRxxOp`)C9EF8ZN#L>5D-)cfM+C#3i1I$5h-kiF)7mqB?k!?dcXd!LC*z|nFmc|a z**H5jim#Rt*bl~)VagE++qi@TG7`JurW$ew3+^kV!-QZ4L6O$xf)Ef(qPLddZwna_ z&(&Oe5CW4P1bgC5gpEc2+k%f$!aj}zL$f?5zFZbUOvq&#Ep&rDjL z#%lr=iPuqzVg{eP2g~UdYA}I#Z!6u{k$s7+)5JEDB)$-eh__N-zNugfb4ZfpQ#&g} zTlctj8qH0;tRxs9N0557u%)2RxwfnE#;n+$|xG*a8c9y4)LScew_y>so0Bg6X1xxCtw5&e<<^ z@5JEHg*S`~Z|BDe%$4{F5SUt)2c{1))~6y@I)I3$_7uG(kv@mF9K>h_tg?#;n*l#t z$gc*KFOMcO10U0rR=uAL~<*VY{Vuo*j?UQPyrl->TpP^}R9b_7p4xQRlZ? 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zmxfrfm!JIq5me?D=XDd^o^qMh^k=fN1$5?7;g>!H4NfNVh;QWOjStRGAl1lE12>=u za`^$DnEeqgH@8P!PKCSRkWwR;F6=(&yT=|`qcm>}ev8S4mw5gN!2A72Tba{l^SWf8 zty~{0>g9b^=& Z{STzFv59bnqJ;ne002ovPDHLkV1m=>@=X8$ literal 0 HcmV?d00001 diff --git a/Docs/ref_sensors.md b/Docs/ref_sensors.md index e6db1faab..2f0d57698 100644 --- a/Docs/ref_sensors.md +++ b/Docs/ref_sensors.md @@ -1,18 +1,19 @@ # Sensors reference -* [__Collision detector__](#collision-detector) -* [__Depth camera__](#depth-camera) -* [__GNSS sensor__](#gnss-sensor) -* [__IMU sensor__](#imu-sensor) -* [__Lane invasion detector__](#lane-invasion-detector) -* [__LIDAR sensor__](#lidar-sensor) -* [__Obstacle detector__](#obstacle-detector) -* [__Radar sensor__](#radar-sensor) -* [__RGB camera__](#rgb-camera) -* [__RSS sensor__](#rss-sensor) -* [__Semantic LIDAR sensor__](#semantic-lidar-sensor) -* [__Semantic segmentation camera__](#semantic-segmentation-camera) -* [__DVS camera__](#dvs-camera) +- [__Collision detector__](#collision-detector) +- [__Depth camera__](#depth-camera) +- [__GNSS sensor__](#gnss-sensor) +- [__IMU sensor__](#imu-sensor) +- [__Lane invasion detector__](#lane-invasion-detector) +- [__LIDAR sensor__](#lidar-sensor) +- [__Obstacle detector__](#obstacle-detector) +- [__Radar sensor__](#radar-sensor) +- [__RGB camera__](#rgb-camera) +- [__RSS sensor__](#rss-sensor) +- [__Semantic LIDAR sensor__](#semantic-lidar-sensor) +- [__Semantic segmentation camera__](#semantic-segmentation-camera) +- [__DVS camera__](#dvs-camera) +- [__Optical Flow camera__](#optical-flow-camera) !!! Important All the sensors use the UE coordinate system (__x__-*forward*, __y__-*right*, __z__-*up*), and return coordinates in local space. When using any visualization software, pay attention to its coordinate system. Many invert the Y-axis, so visualizing the sensor data directly may result in mirrored outputs. @@ -844,3 +845,45 @@ DVS is a camera and therefore has all the attributes available in the RGB camera | `log_eps` | float | 0\.001 | Epsilon value used to convert images to log: `L = log(eps + I / 255.0)`.
    Where `I` is the grayscale value of the RGB image:
    `I = 0.2989*R + 0.5870*G + 0.1140*B`. |
    + +--- + +## Optical Flow Camera + +The Optical Flow camera captures the motion perceived from the point of view of the camera. Every pixel recorded by this sensor encodes the velocity of that point projected to the image plane. The velocity of a pixel is encoded in the range [-2,2]. To obtain the motion in pixel units, this information can be scaled with the image size to [-2 * image_size, 2 * image_size]. + +![optical_flow](img/optical_flow.png) + +#### Optical Flow camera attributes + +| Blueprint attribute | Type | Default | Description | +| ------------------- | ---- | ------- | ----------- | +| `image_size_x` | int | 800 | Image width in pixels. | +| `image_size_y` | int | 600 | Image height in pixels. | +| `fov` | float | 90.0 | Horizontal field of view in degrees. | +| `sensor_tick` | float | 0.0 | Simulation seconds between sensor captures (ticks). | + +#### Optical Flow camera lens distortion attributes + +| Blueprint attribute | Type | Default | Description | +| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------------------------- | +| `lens_circle_falloff` | float | 5\.0 | Range: [0.0, 10.0] | +| `lens_circle_multiplier` | float | 0\.0 | Range: [0.0, 10.0] | +| `lens_k` | float | \-1.0 | Range: [-inf, inf] | +| `lens_kcube` | float | 0\.0 | Range: [-inf, inf] | +| `lens_x_size` | float | 0\.08 | Range: [0.0, 1.0] | +| `lens_y_size` | float | 0\.08 | Range: [0.0, 1.0] | + +#### Output attributes + +| Sensor data attribute | Type | Description | +| --------------------- | ---- | ----------- | +| `frame` | int | Frame number when the measurement took place. | +| `timestamp` | double | Simulation time of the measurement in seconds since the beginning of the episode. | +| `transform` | [carla.Transform](<../python_api#carlatransform>) | Location and rotation in world coordinates of the sensor at the time of the measurement. | +| `width` | int | Image width in pixels. | +| `height` | int | Image height in pixels. | +| `fov` | float | Horizontal field of view in degrees. | +| `raw_data` | bytes | Array of BGRA 64-bit pixels containing two float values. | + +